Subtask 
-------- 
Dilation SE5
Dilation SE5
 Erosion SE5
 Erosion SE5
Iterate 2 Dilation SE3
Iterate 2  Erosion SE3

Subtask 
-------- 
Dilation SE4
Dilation SE8
 Erosion SE4
 Erosion SE8
Iterate 2 Dilation SE3
Iterate 2  Erosion SE3

Subtask 
-------- 
Dilation SE3
Dilation SE3
 Erosion SE3
 Erosion SE3
Iterate 2 Dilation SE3
Iterate 2  Erosion SE3